CN103237292A - Locator-based locating method - Google Patents
Locator-based locating method Download PDFInfo
- Publication number
- CN103237292A CN103237292A CN2013101736446A CN201310173644A CN103237292A CN 103237292 A CN103237292 A CN 103237292A CN 2013101736446 A CN2013101736446 A CN 2013101736446A CN 201310173644 A CN201310173644 A CN 201310173644A CN 103237292 A CN103237292 A CN 103237292A
- Authority
- CN
- China
- Prior art keywords
- locator
- unit
- monitoring end
- distance threshold
- outer monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000012544 monitoring process Methods 0.000 claims abstract description 104
- 238000013507 mapping Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000004807 localization Effects 0.000 claims description 19
- 238000010295 mobile communication Methods 0.000 abstract description 15
- 238000012545 processing Methods 0.000 abstract description 2
- 230000002459 sustained effect Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 22
- 230000001133 acceleration Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000002950 deficient Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000035515 penetration Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000006854 communication Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000001131 transforming effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Mobile Radio Communication Systems (AREA)
- Telephone Function (AREA)
Abstract
The invention provides a locator-based locating method. A locator comprises a central processing unit, a wireless unit, a global positioning system (GPS) locating unit, an inertial navigation unit, a mobile communication unit and a storage unit. The method comprises the following steps that a corresponding external monitoring end is searched based on a wireless detection signal; whether the current distance between the locator and the external monitoring end exceeds a first distance threshold value is determined based on the current wireless signal intensity and a mapping table stored in the storage unit; the inertial navigation unit is started when the current distance exceeds the first distance threshold value; whether the current distance exceeds a second distance threshold value is determined by detecting whether wireless connection can be established between the locator and the external monitoring end; and the mobile communication unit and the GPS locating unit are started when the current distance exceeds the second distance threshold value. By combining low power consumption Bluetooth, wireless fidelity (WIFI), a gyroscope and an accelerometer, the problem of power consumption due to the sustained use of a mobile network and GPS locating is solved.
Description
Technical field
The present invention relates in general to the location tracking field, more specifically, relates to a kind of method and corresponding locator that missing children, old man or the valuables lost is positioned tracking.
Background technology
Along with the continuous expansion in city, and some lawless persons' of current social appearance, how to prevent old man and children loss or be kidnaped, abduct, be the difficult problem of society always.In the prior art, generally be a kind of so-called children old man's safe mobile phone of employing, utilize GPS and mobile network to realize electronics fence and location tracking, yet this needs all kinds of notes instructions of user record, typical safe mobile phone series as the IDALL shellfish.User or needs are gone up the track that child is gone to inquire about in special website, or need to send note to child handset, obtain locating information.
Prior art from current location tracking, some defectives below main the existence, at first, traditional locate mode, need open simultaneously mobile data network (such as, the 2G/3G mobile data network) and the GPS navigation system, therefore GPS navigation system and mobile data network have increased the power consumption of system, under normal conditions greatly in the work that does not stop, the lasting navigation time of the mobile phone of a 1000mAh can not surpass 2 hours, and this obviously can not satisfy the requirement of long-time use.May need to continue the long period owing to follow the tracks of, accumulation is got up, and equipment is difficult to guarantee to still have enough works about electric power before finding children under guardianship, thereby when children or property are wandered away for a long time or lost, can't realize long location tracking; Simultaneously, prior art is usually based on mobile phone, and children's self-supplying capacity is generally all poor, and child mobile phone can't avoid receiving refuse messages or stranger's harassing call, can disturb child to learn, and disperses child's attentiveness, and may cause potential safety hazard.And mobile phone is too showy, in case events such as children lose take place, is easy to be abandoned by the suspect and ineffective, thereby does not reach the purpose that continuous positioning is followed the trail of; At last and since the gps signal penetration power a little less than, can't be in indoor use, such as in market or the entertainment for children place that the crowd is dense, can't accurately locate child's position by GPS, and the base station position error is excessive, and do not have elevation information, can't locate child's accurate position (as in several buildings).
Summary of the invention
At above-mentioned defective, an object of the present invention is to provide a kind of localization method based on locator, described locator comprises CPU, radio unit, GPS positioning unit, inertial navigation unit, mobile comm unit and memory cell; Said method comprising the steps of: based on the radio detection signal, search for corresponding outer monitoring end; Determine based on current wireless electrical signal intensity and the mapping table that is stored in described memory cell whether the current distance between locator and the outer monitoring end exceeds first distance threshold; When exceeding described first distance threshold, start described inertial navigation unit; By detecting between described locator and the outer monitoring end whether can set up dedicated radio link, determine whether current distance exceeds the second distance threshold value; When exceeding described second distance threshold value, start described mobile comm unit and described GPS positioning unit.
Wherein, described method also is included in described locator when not searching the outer monitoring end, starts described mobile comm unit and described GPS positioning unit.
Wherein, after starting described inertial navigation unit, and when definite current distance does not exceed described second distance threshold value, will send to the outer monitoring end by the positional information of the described locator of described inertial navigation unit detection by described radio unit.
Wherein, in the described GPS positioning unit of described startup step, described locator is opened the GPS positioning unit with first predetermined time interval; After starting described mobile comm unit, described locator sends current position information by described mobile comm unit to outside monitoring client with second predetermined time interval.
Wherein, according to the instruction of outer monitoring end, shorten described second predetermined time interval.
Another order according to the present invention provides a kind of locator, comprises CPU, radio unit, GPS positioning unit, inertial navigation unit, mobile comm unit and memory cell; Described radio unit, mobile comm unit are used for communicating with the outer monitoring end; Described GPS positioning unit, inertial navigation unit are used for obtaining the positional information of described locator; Described memory cell is for the mapping table between storage radio signal strength and the distance and the positional information of locator; Described CPU comprises the first distance threshold determination module and second distance threshold determination module; The described first distance threshold determination module is used for determining based on current wireless electrical signal intensity and described mapping table whether described locator and outer monitoring end exceed first distance threshold; Described second distance threshold determination module is used for determining whether and can also setting up dedicated radio link between described locator and described outer monitoring end.
Wherein, described locator also comprises at least one in electronic compass, transforming circuit, SIM card slot, audio control chip and the loud speaker, and described locator also comprises power supply unit and be used for to cut off or connect the remote control switch of the power supply of inner entire circuit system, described remote control switch can receive the remote control command from the outside, to cut off or to connect the power supply of the inner entire circuit of locator system.
Wherein, determine after the distance between described locator and the outer monitoring end exceeds first distance threshold at the described first distance threshold determination module, start the inertial navigation unit; Determine and to connect in described second distance threshold determination module, thereby when determining that described locator and distance between the described outer monitoring end have surpassed the second distance threshold value, start described mobile comm unit, and timing starts described GPS positioning unit.
According to a further aspect in the invention, also provide a kind of localization method, it uses above-mentioned locator to position, and said method comprising the steps of: based on the radio detection signal, search for corresponding outer monitoring end; Determine based on current wireless electrical signal intensity and the mapping table that is stored in described memory cell whether the current distance between described locator and the outer monitoring end exceeds first distance threshold; When exceeding described first distance threshold, start described inertial navigation unit; By detecting between described locator and the described outer monitoring end whether can set up dedicated radio link, determine whether current distance exceeds the second distance threshold value; When described locator exceeds the second distance threshold value or do not search the outer monitoring end, start described mobile comm unit and described GPS positioning unit.
Another purpose according to the present invention provides a kind of location tracking system, is used for people or thing are positioned tracking, and described location tracking system comprises outer monitoring end and at least one above-mentioned locator.
By above-mentioned solution, the present invention has following beneficial effect:
1) generally, low-power consumption bluetooth or WIFI module typical case power consumption are at 0.01-0.5ma, and mobile data network communication and GPS power consumption are generally more than 200ma.Therefore the Combination application of the bluetooth by low-power consumption, WIFI, gyroscope, accelerometer has solved the power problems that bring lasting use mobile network and GPS location;
2) by gyroscope and accelerometer combination, realize the inertial navigation location, thereby can effectively solve the indoor positioning tracking problem; Also can significantly reduce simultaneously the long-time power consumption levels that uses of system on the other hand;
3) by making locator microminiaturization of the present invention, be convenient to locator of the present invention can with the effectively combinations such as packing of children, old man's clothing, shoes and hats etc. or valuables, thereby effectively prevented lawless person's discovery.
Description of drawings
Fig. 1 is the circuit theory schematic diagram of the locator of the embodiment of the invention;
Fig. 2 is the flow chart based on the location processing method of locator of the embodiment of the invention;
Fig. 3 is the flow chart of localization process of the outer monitoring end of the embodiment of the invention;
Fig. 4 is the schematic diagram of the location tracking system that is made of locator and outer monitoring end of the embodiment of the invention.
As shown in the figure, in order clearly to realize the structure of embodiments of the invention, specific structure and device have been marked in the drawings, but this only needs for signal, be not that intention limits the invention in this ad hoc structure, device and the environment, according to concrete needs, those of ordinary skill in the art can adjust these devices and environment or revise, and the adjustment of carrying out or modification still are included in the scope of accompanying Claim.
Embodiment
Below in conjunction with the drawings and specific embodiments a kind of locator provided by the invention and localization method thereof are described in detail.What simultaneously here do to illustrate is, more detailed in order to make embodiment, the following examples be the best, preferred embodiment, also can adopt other alternative and implements for some known technology those skilled in the art; And accompanying drawing part only is in order to describe embodiment more specifically, and is not intended to the present invention is carried out concrete restriction.
In an embodiment of the present invention, the circuit theory schematic diagram of locator as shown in Figure 1, this locator comprises CPU 1, radio unit 2, GPS positioning unit 3, inertial navigation unit 4, mobile comm unit 5 and memory cell 6.Wherein radio unit 2, mobile comm unit 5 can communicate with the outer monitoring end, and radio unit, GPS positioning unit, inertial navigation unit, mobile comm unit, memory cell communicate to connect with CPU respectively.Although in Fig. 1, separately show radio unit 2, GPS positioning unit 3, yet this only is schematic and nonrestrictive, these two unit also can be integrated in (by being shown in dotted line among Fig. 1) in the unit as can be known to those skilled in the art, such as, the WIFI/BT/FM/GPS integrated chip.Mobile comm unit 5 can adopt the mobile communication baseband chip that can be connected to the 2G/3G mobile communications network well known in the art, i.e. 2G/3G mobile comm unit.
In embodiments of the present invention, preferably, because mobile comm unit and GPS positioning unit in the locator are in dead status usually, other each power supply unit power consumption is very low, therefore can adopt such as rechargeable devices such as button cell or motion chargers to be used as power supply unit.
In embodiments of the present invention, preferably, this locator also comprises electronic compass (not shown), and it is used to locator to provide auxiliary correction for direction and gyroscope, accelerometer to cooperate, for the inertial navigation provider to.
In embodiments of the present invention, preferably, this locator also comprises equipment (not shown) such as transforming circuit, SIM card slot, audio control chip, loud speaker.When externally monitoring client needs locator to send the sound, can instruct audio control chip and the loud speaker of controlling locator to send the sound by sending.
In embodiments of the present invention, preferably, this locator also comprises the remote control switch for the power supply of cutting off its inner entire circuit system, this remote control switch can receive the remote control command from the outside, to cut off the power supply of the inner entire circuit of locator system, thereby when not needing location tracking children under guardianship or by the monitoring thing on the one hand locator is stopped using, increase the locator purpose in useful life and reach; On the other hand, also realized the purpose of economize on electricity when locator need not use.
The shell of locator can be according to target customers' difference, and has different profiles, and its shell can adopt waterproof materials such as resin to make, and above-mentioned each unit of locator is arranged in this shell.In use, usually attached (can for example by making or bonding mode) at children under guardianship's clothing, shoes and hats or in by the inner packing of monitoring thing.Because less form factor, it also can be by forms such as thread gluings, is installed in monitored people's positions such as clothes inboard, waistband, school bag, and is difficult for being found.Simultaneously, because it does not have screen, can effectively avoid the child play recreation and batter phone, also can allow child be happy to carry by the more lovely shell of use.
Radio unit 2 comprises WIFI module and bluetooth (BT) module, and WIFI module and bluetooth module are low power consuming devices, when locator is brought into use, at first only starts WIFI module in the radio unit 2 and at least one in the bluetooth module.Here it should be noted that because WIFI module and bluetooth module are the low-power consumption module, so power consumption is extremely low, thereby has guaranteed the long-time use of locator.When the outer monitoring end needs location tracking to carry the children under guardianship of locator or is guarded thing, the unlatching monitoring, tracing is used, start WIFI module or the bluetooth module (it depends on the support situation of outer monitoring end) of this outer monitoring end, thus automatic scan and finish between outer monitoring end and the corresponding locator and match.Although described in the present embodiment radio unit 2 comprise WIFI module and bluetooth module the two, yet this only is the preferred embodiments of the present invention, also be appreciated that for those skilled in the art this radio unit 2 can only comprise WIFI module and bluetooth module the two one of or other as the FM radio module.
Here it should be noted that electronics fence function is used for guaranteeing that tracked people can not exceed field range, use GPS to add mobile data network traditionally and realize.Wherein, GPS is responsible for definite distance between the two, and mobile data network is responsible for transmitting both sides' position, in order to calculate distance, realizes the purpose of following the tracks of.But this implementation can't be used owing to gps signal penetration power difference in indoor environment.The present invention is in order to overcome this defective, one aspect of the present invention use based on radio signal strength apart from testing mechanism (namely, WIFI-Direct finds service, bluetooth service discovery protocol (SDP) and Devasirvatham model), realize distance detection; On the other hand, after locator and outer monitoring end surpass certain distance, by using the inertial navigation unit, also further in the relative accurate localization of indoor realization, this will below be described in detail.
WIFI-Direct finds that service is the standard that WiFi alliance issued in 2010, allows the equipment in the wireless network to need not can interconnect by wireless router.Similar with Bluetooth technology, this standard allows wireless device to interconnect with point-to-point form.Bluetooth service discovery protocol (SDP, Service DiscovcryProtocol) is in order to allow two bluetooth equipments acquaintance and connecting and a kind of agreement based on client/server structure of designing.Bluetooth service discovery protocol has special connotation to the application program in the bluetooth environment in bluetooth protocol repertory, find which service is available and the feature of definite these available service.The Devasirvatham model claims the linear path attenuation model again, and this model has been used in the planning of laying with the wireless base station at present, and its computing formula is as follows:
Pl(d，f)＝Pl
FS(d，f)+a
d；
Wherein, (d f) is indoor path loss to Pl, and unit is dB, and a is model coefficient, and d is propagation path, Pl
FS(d f) is free-space loss, and its computing formula is:
Pl
FS(d，f)＝32.4+20lgf+20lgd；
Wherein, d is propagation path, and unit is km, and f is wave frequency, and unit is MHz.By this model, we can rough calculation go out typical propagated loss, thereby obtain the relation between signal strength signal intensity and the distance.
Under the situation that has the WIFI signal, use WIFI Direct to find that service realizes mutual detection; And under bluetooth environment, use bluetooth service discovery protocol (SDP) to realize mutual detection.Both sides detect distance according to detected the other side's signal strength signal intensity, thereby electronics fence function is provided.Because in the whole process, not needing to set up the 2G/3G mobile communication connects, therefore, can think that the transmitting power of locator fixes, and in the radio signal communication process, can decay according to rule, at first according to the Devasirvatham model set up radio signal strength and the distance between mapping table, subsequently this mapping table is stored in the memory cell 6 in advance, thus by current demand signal intensity, and according to the mapping table that is stored in advance in the memory cell 6, table look-up and just can draw distance between locator and the outer monitoring end.Simultaneously, also store the positional information of the locator that positional information and the GPS unit such as motion track of the locator that is obtained by inertial navigation unit 4 obtain in this memory cell 6.This memory cell 6 can be selected RAM, ROM, EEPROM, CD-ROM or other optical disc storage or digital versatile disc (DVD) etc., disk storage or other magnetic storage apparatus for use; Also can use such as other memory device, smart card and flash memory devices such as hard disk, floppy disk, magnetic stripe (for example, EPROM, memory card, memory stick etc.).
Different with the scheme based on gps signal, because locator itself exists as a radio AP, radio AP, i.e. so-called hotspot, the movement of carrying locator, this focus is also moving.Therefore, it has with locator and moves and mobile characteristics are not subjected to the restriction of gps signal penetration capacity, thus can be in indoor environment works fine.Simultaneously, since during radio signal process barrier, significantly decay, thus, can judge between locator (children under guardianship or quilt monitoring thing) and the outer monitoring end whether barrier is arranged, thereby find the position of locator (children under guardianship or quilt monitoring thing) more timely.
This CPU 1 comprises the first distance threshold determination module, its be used for table look-up by current demand signal intensity draw between locator and the outer monitoring end apart from the time, determine whether this distance exceeds first distance threshold.After the distance between locator and the outer monitoring end exceeds first distance threshold, start inertial navigation unit 4, the track that comes the compute location device to begin from current location, thereby the positional information of acquisition locator.Preferably, when determining this distance above first distance threshold, CPU 1 can also send to the outer monitoring end with alarm signal by radio unit 2, to inform the guardian.
Inertial navigation technology is according to newton's principle of inertia, utilizes inertance element (accelerometer) to measure the acceleration of carrier itself, obtains speed and position through integration and computing, thereby reaches the purpose to the carrier navigator fix.In the preferred embodiment, inertial navigation unit 4 comprises gyroscope and accelerometer, and gyroscope is used for the angular speed of measuring system in inertial reference system.By with system's initial orientation in the inertial reference system as initial condition, angular speed is carried out integration, just can obtain the current direction of system constantly.Accelerometer is used for the linear acceleration of measuring system in inertial reference system.By the current angular speed of track and localization device and the current linear acceleration that measures with respect to kinematic system, just can determine the current linear acceleration of locator in the reference system.As initial condition, use kinematical equation with starting velocity, inertial acceleration carried out integration just can obtain system inertia speed, then with the original position seat do initial condition again integration just can obtain inertial position.Here the little error that it should be noted that INS sensors can be accumulated as mistake in time, and its error is directly proportional with the time substantially, therefore in needs high precision position information, need constantly revise.
This CPU 1 also further comprises the second distance threshold determination module, it can also be set up radio (WIFI or bluetooth) for detection of whether and be connected between locator and outer monitoring end, can set up dedicated radio link if this second distance threshold determination module is definite, then position information such as the moving direction of the locator that is detected by inertial navigation unit 4 to outside monitoring client transmission via radio unit 2 (WIFI module or bluetooth module) (children under guardianship or quilt monitoring thing) and speed.When both sides' distance does not surpass radio (WIFI/ bluetooth) signal trace scope, it is nearer to mean that both sides compare, and generally, does not need to start GPS and accurately locatees, this moment, the 2G/3G mobile communications network was also closed simultaneously, thereby had saved electric power for locator.
If this second distance threshold determination module is determined and can't be connected, determine that then the distance between locator and the outer monitoring end has surpassed the maximum tracking range (second distance threshold value) of radio unit 2, at this moment, can regularly start the GPS positioning unit and carry out the GPS location, start mobile comm unit simultaneously, carry out mobile communication and connect, with transmission of location information.
No matter the transmission of traditional locator data all is to be undertaken by mobile data network, and the distance of distance, though be exactly the guardian at one's side, also can open the sizable mobile comm unit of power consumption and GPS positioning unit.This has caused power consumption more serious on the one hand, can't satisfy the requirement of long-time use, and on the other hand because mobile comm unit location radiation is bigger, long-time unlatching may cause bad influence to children's health.According to locator of the present invention, at first in can setting up the dedicated radio link scope (distance) of (WIFI or bluetooth connect), all need not to open mobile comm unit 5 and GPS positioning unit 3, simultaneously when can't carrying out dedicated radio link, also can pass through intelligent opening mobile comm unit 5 and time opening GPS positioning unit 3, thereby guaranteed the low-power consumption of locator, the long-time characteristic of using, and can reduce the radiation to children's torso to greatest extent.
The embodiment of the invention based on the flow chart of the location processing method of locator as shown in Figure 2.At first start locator, and this moment, GPS positioning unit 3, inertial navigation unit 4, the mobile comm unit 5 in the locator still was in dead status.Can adopt the mode of built-in starting switch well known in the art or remote control switch to make the internal circuit (for example, CPU, radio unit etc.) of locator connect the power supply unit of locator inside for the startup of locator, thereby activate locator.Subsequently, process advances to S11, in step S11, based on the radio signal such as WIFI or Bluetooth signal that detects, namely detect WIFI signal or Bluetooth signal based on radio unit 2, search for corresponding outer monitoring end, after searching corresponding outer monitoring end, process advances to S12.
In a preferred embodiment of the invention, when not searching corresponding outer monitoring end, process can directly advance to S15 (shown in the dotted line among Fig. 2), and locator starts the GPS positioning unit and carries out the GPS location, start mobile comm unit simultaneously, carry out mobile communication and connect.
In step S12, the CPU 1 of this locator is tabled look-up by current demand signal intensity and is drawn distance between locator and the outer monitoring end, to determine whether current distance exceeds first distance threshold.When not exceeding first distance threshold, CPU 1 continues monitoring; When determining to exceed first distance threshold, process advances to S13, and in step S13, locator is opened inertial navigation unit 4, and by the WIFI module in the radio unit or bluetooth module the positional information of locator (also namely, children under guardianship or by the monitoring thing) is sent to the outer monitoring end.Subsequently, process advances to S14.Here need to prove, in step S13, for the purpose of economizing on electricity the time, can not open the GPS positioning unit, because when both sides' distance does not surpass radio (WIFI/ bluetooth) signal trace scope, mean that both sides are positioned at the visual range scope, do not need to start GPS and accurately locate.If when the guardian needs children under guardianship at this moment or guarded the exact position of thing, also can send instruction by the outer monitoring end, and start GPS positioning unit 6, thereby accurately locate.
In step S14, whether CPU 1 detects and can also set up dedicated radio link (WIFI or bluetooth are connected) between locator and outer monitoring end, thereby whether definite current distance exceeds the second distance threshold value.Can set up dedicated radio link, thereby when determining also not exceed the second distance threshold value, CPU 1 continues monitoring; When determining to exceed the second distance threshold value (, can't connect), process advances to S15.
In step S15, locator starts the GPS positioning unit and carries out the GPS location, start mobile comm unit simultaneously, carrying out mobile communication connects, positional information with the transmission locator, thereby by mobile comm unit with locator (that is, children under guardianship or by the monitoring thing) positional information send to the outer monitoring end.
In the startup mobile comm unit 6 and GPS positioning unit 5 of step S15, preferably, regularly start the GPS positioning unit, GPS positioning unit in a single day location is finished, the work of GPS positioning unit can be taken in inertial navigation unit (gyroscope and accelerometer), provides continuous positioning to follow the trail of service.Because the inertial navigation error is relatively large, for eliminating consequent accumulated error, locator can be opened the GPS positioning unit once again every the scheduled time (for example, adjusting) in 2-15 minute, to eliminate error.Because GPS does not need continuous firing, therefore, the power consumption of locator is reduced greatly.By the combination of above-mentioned two kinds of location technologies, that avoids on the one hand that simple GPS location can occur loses star and the bigger problem of power consumption, has avoided accelerometer in the inertial navigation unit can accumulate in time with gyrostatic little error on the other hand and just becomes mistake.
Simultaneously, in step S15, further preferably be, when using the 2G/3G mobile communications network to follow the tracks of, under normal circumstances, locator can send current position information by described mobile comm unit to outside monitoring client every the scheduled time (for example, every 10,15 or 20 seconds etc.), rather than report at any time, to save electric power.More preferably, when when dump power is lower than certain threshold values, can further prolong the blanking time of report, for example, every 1 minute etc.Also preferably, also can shorten the blanking time of locator report according to the instruction of outer monitoring end, for example, 1 time/second.
The server that mentioned outer monitoring end can adopt portable set known in the art or have location tracking network enabled function among the present invention.Wherein, CPU, radio unit (it comprises WIFI module and bluetooth (BT) module), mobile comm unit and memory cell etc. also can have further been comprised in this outer monitoring end.CPU in this outer monitoring end, also can have the similar functions of the CPU in the aforesaid locator, repeat no more here.
The flow chart of the localization process of the outer monitoring end of the embodiment of the invention as shown in Figure 3.Wherein, the localization process flow process that the outer monitoring end carries out is corresponding with the localization process flow process that locator carries out, and some treatment steps are identical with the treatment step of locator simultaneously.Here need to prove, when the localization process step of carrying out at monitoring client is identical with the localization process step of locator, both can only be handled by locator, also can only bring in processing by outer monitoring, perhaps also can be handled simultaneously respectively by locator and outer monitoring end.
When using the outer monitoring end, at first open the outer monitoring end, position to follow the trail of and use.Subsequently, process advances to S21, in step S21, based on detecting radio signal (that is, WIFI or Bluetooth signal), searches for corresponding locator, and after searching corresponding locator, process advances to S22.
In a preferred embodiment of the invention, when not searching corresponding locator, process can directly advance to S25 (shown in the dotted line among Fig. 3), the outer monitoring end carries out mobile communication with locator and is connected, thereby receive the positional information of locator (also namely, children under guardianship or quilt monitoring thing) by mobile communications network.
(this step also can be realized by locator in step S22, and send to the outer monitoring end by the result that locator will be determined), the CPU of this outer monitoring end is by the current demand signal intensity (mode of can similar locator tabling look-up of tabling look-up, in advance the mapping table between signal strength signal intensity and the distance is stored in the memory cell of outer monitoring end self) draw the distance between locator and the outer monitoring end, to determine whether current distance exceeds first distance threshold.When not exceeding first distance threshold, the CPU of outer monitoring end continues monitoring; When determining to exceed first distance threshold, process advances to S23, in step S23, and the display alarm of outer monitoring end, thus alarm signal is offered the guardian.Wherein preferably, this alarm signal can adopt audio alert, also can adopt light warning, and perhaps both combinations are reported to the police.
Subsequently, process advances to S24 (this step also can be realized by locator, and send to the outer monitoring end by the result that locator will be determined).In step S24, whether the CPU of outer monitoring end detects can also set up dedicated radio link (WIFI or bluetooth are connected) at locator and outer monitoring end, thereby determines whether current distance exceeds the second distance threshold value.Can set up dedicated radio link, thereby when determining also not exceed the second distance threshold value, the CPU of outer monitoring end continues monitoring; When determining to exceed the second distance threshold value (, can't connect), process advances to S25.
In step S25, the outer monitoring end carries out mobile communication with locator and is connected, thereby receives the positional information of locator (also namely, children under guardianship or quilt monitoring thing) by mobile communications network.Need to prove that here the outer monitoring end is owing to can be equipment such as base station, server, big capacity portable terminal device, though the characteristics that can when work, also can charge for a long time, so its mobile communications network can be opened always.
The schematic diagram of the location tracking system that is made of locator and outer monitoring end of the embodiment of the invention as shown in Figure 4.As seen from Figure 4, an outer monitoring end can be corresponding to a plurality of locators that are arranged on children under guardianship or guarded the thing place, the outer monitoring end can according to coding techniques well known in the art to each its corresponding locator encode, thereby be convenient to position tracking for each locator.
The present invention is contained any in substituting of making of marrow of the present invention and scope, modification, equivalent method and scheme.Understand for the public is had completely the present invention, in the following preferred embodiment of the present invention, describe concrete details in detail, and do not have the description of these details also can understand the present invention fully for a person skilled in the art.In addition, for fear of essence of the present invention is caused unnecessary obscuring, do not describe well-known method, process, flow process, element and circuit etc. in detail.
One of ordinary skill in the art will appreciate that all or part of step that realizes in above-described embodiment method is to instruct relevant hardware to finish by program, this program can be stored in the computer read/write memory medium, as: ROM/RAM, magnetic disc, CD etc.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. localization method based on locator, described locator comprises CPU, radio unit, GPS positioning unit, inertial navigation unit, mobile comm unit and memory cell; It is characterized in that, said method comprising the steps of:
Based on the radio detection signal, search for corresponding outer monitoring end (S11);
Determine based on current wireless electrical signal intensity and the mapping table that is stored in described memory cell whether the current distance between described locator and the outer monitoring end exceeds first distance threshold (S12);
When exceeding described first distance threshold, start described inertial navigation unit (S13);
By detecting between described locator and the described outer monitoring end whether can set up dedicated radio link, determine whether current distance exceeds second distance threshold value (S14);
When exceeding the second distance threshold value, start described mobile comm unit and described GPS positioning unit (S15).
2. localization method according to claim 1 is characterized in that, described method also is included in described locator when not searching the outer monitoring end, starts described mobile comm unit and described GPS positioning unit.
3. localization method according to claim 1, it is characterized in that, after starting described inertial navigation unit, and when definite current distance did not exceed described second distance threshold value, the positional information of the described locator that will be detected by described inertial navigation unit by described radio unit sent to described outer monitoring end.
4. localization method according to claim 1 and 2 is characterized in that, in starting described GPS positioning unit step, described locator is opened the GPS positioning unit with first predetermined time interval; After starting described mobile comm unit, described locator sends current position information by described mobile comm unit to outside monitoring client with second predetermined time interval.
5. localization method according to claim 4 is characterized in that, shortens described second predetermined time interval according to the instruction of outer monitoring end.
6. a locator comprises CPU, radio unit, GPS positioning unit, inertial navigation unit, mobile comm unit and memory cell; Described radio unit, mobile comm unit are used for communicating with the outer monitoring end; Described GPS positioning unit, inertial navigation unit are used for obtaining the positional information of described locator; It is characterized in that:
Described memory cell is for the mapping table between storage radio signal strength and the distance and the positional information of locator;
Described CPU comprises the first distance threshold determination module and second distance threshold determination module; The described first distance threshold determination module is used for determining based on current wireless electrical signal intensity and described mapping table whether described locator and outer monitoring end exceed first distance threshold; Described second distance threshold determination module is used for determining whether and can also setting up dedicated radio link between described locator and described outer monitoring end.
7. locator according to claim 6, it is characterized in that: described radio unit comprises WIFI module and bluetooth module; Described inertial navigation unit comprises gyroscope and accelerometer; Described mobile comm unit is the 2G/3G mobile comm unit.
8. locator according to claim 6 is characterized in that: determine after the distance between described locator and the outer monitoring end exceeds first distance threshold at the described first distance threshold determination module, start the inertial navigation unit; Determine and to connect in described second distance threshold determination module, thereby when determining that described locator and distance between the described outer monitoring end have surpassed the second distance threshold value, start described mobile comm unit, and timing starts described GPS positioning unit.
9. localization method, described localization method right to use require that each described locator positions among the 6-8, said method comprising the steps of:
Based on the radio detection signal, search for corresponding outer monitoring end (S11);
Determine based on current wireless electrical signal intensity and the mapping table that is stored in described memory cell whether the current distance between described locator and the outer monitoring end exceeds first distance threshold (S12);
When exceeding described first distance threshold, start described inertial navigation unit (S13);
By detecting between described locator and the described outer monitoring end whether can set up dedicated radio link, determine whether current distance exceeds second distance threshold value (S14);
When described locator exceeds the second distance threshold value or do not search the outer monitoring end, start described mobile comm unit and described GPS positioning unit (S15).
10. a location tracking system is used for people or thing are positioned tracking, it is characterized in that:
Described location tracking system comprises outer monitoring end and at least one locator described in claim 6-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173644.6A CN103237292B (en) | 2013-05-13 | 2013-05-13 | A kind of localization method based on locator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173644.6A CN103237292B (en) | 2013-05-13 | 2013-05-13 | A kind of localization method based on locator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103237292A true CN103237292A (en) | 2013-08-07 |
| CN103237292B CN103237292B (en) | 2015-09-09 |
Family
ID=48885303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310173644.6A Active CN103237292B (en) | 2013-05-13 | 2013-05-13 | A kind of localization method based on locator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103237292B (en) |
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103478996A (en) * | 2013-10-16 | 2014-01-01 | 无锡艾科瑞思产品设计与研究有限公司 | Multifunctional guiding and locating bracelet for mountaineering |
| CN103617693A (en) * | 2013-11-01 | 2014-03-05 | 青岛海尔软件有限公司 | Child safety monitoring method |
| CN103746758A (en) * | 2014-01-09 | 2014-04-23 | 北京智谷睿拓技术服务有限公司 | Monitoring method and equipment |
| CN103873555A (en) * | 2013-12-20 | 2014-06-18 | 北京奇虎科技有限公司 | Method, device and system for building communication between monitoring terminals |
| CN104423268A (en) * | 2013-09-05 | 2015-03-18 | 联想(北京)有限公司 | Electronic equipment |
| CN104469911A (en) * | 2014-12-03 | 2015-03-25 | 中电科卫星导航运营服务有限公司 | Tracker with near field wireless communication module and tracking method |
| CN104522929A (en) * | 2015-01-12 | 2015-04-22 | 宁波市中迪鞋业有限公司 | Voice-hidden automatic alarm shoe with positioning function and alarm method of voice-hidden automatic alarm shoe |
| CN104616458A (en) * | 2015-01-30 | 2015-05-13 | 朱威 | Losing prevention method and system of article |
| WO2015101356A1 (en) * | 2014-01-06 | 2015-07-09 | Binatone Electronics International Limited | Dual mode baby monitoring priority application |
| CN104780502A (en) * | 2014-08-25 | 2015-07-15 | 李杨 | Portable equipment and anti-lost and positioning method and system thereof |
| CN104780503A (en) * | 2014-08-25 | 2015-07-15 | 李杨 | Portable equipment and power management method and system thereof |
| CN104901725A (en) * | 2015-05-19 | 2015-09-09 | 西安海导信息技术有限公司 | Signal transmission device, positioner, signal transmission system and signal transmission method |
| CN105185057A (en) * | 2015-08-04 | 2015-12-23 | 广东小天才科技有限公司 | Method and device for positioning smart watch |
| CN105338756A (en) * | 2015-10-29 | 2016-02-17 | 曾子维 | Positioning patch and positioning method thereof |
| CN105430715A (en) * | 2015-10-22 | 2016-03-23 | 小米科技有限责任公司 | Method and apparatus for controlling WIFI scanning |
| CN105792124A (en) * | 2014-12-26 | 2016-07-20 | 腾讯科技（深圳）有限公司 | Positioning method and device |
| CN105869364A (en) * | 2016-06-17 | 2016-08-17 | 北京汉唐自远技术股份有限公司 | Wireless monitoring terminal |
| CN106292556A (en) * | 2015-05-20 | 2017-01-04 | 无锡卓信信息科技有限公司 | A kind of system and method utilizing wireless double mode technology to realize radioactive source monitoring |
| US9563262B2 (en) | 2013-09-05 | 2017-02-07 | Lenovo (Beijing) Co., Ltd. | Electronic apparatus and information processing method |
| US9568582B2 (en) | 2014-05-14 | 2017-02-14 | Pegatron Corporation | Electronic device |
| CN106507295A (en) * | 2016-09-30 | 2017-03-15 | 维沃移动通信有限公司 | A kind of localization method of mobile terminal and mobile terminal |
| CN106507474A (en) * | 2016-10-28 | 2017-03-15 | 歌尔科技有限公司 | A kind of method and device for positioning mobile terminal |
| CN106595651A (en) * | 2016-11-24 | 2017-04-26 | 歌尔科技有限公司 | Monitoring terminal, anti-lost terminal, anti-lost system and anti-lost method |
| CN106680853A (en) * | 2016-12-31 | 2017-05-17 | 山东大学 | Positioning device based on non network server platform, and operating method of the same |
| CN106716170A (en) * | 2014-06-12 | 2017-05-24 | 奈达科技瑞典有限公司 | Method for locating a device and a mobile locator device |
| CN107959925A (en) * | 2017-11-24 | 2018-04-24 | 安徽省雨龙家具有限公司 | A kind of smart home device assisted location method |
| CN108091104A (en) * | 2017-12-28 | 2018-05-29 | 南京工程学院 | A kind of low power-consumption intelligent tracker |
| CN109298389A (en) * | 2018-08-29 | 2019-02-01 | 东南大学 | Indoor pedestrian based on multiparticle group optimization combines position and orientation estimation method |
| CN109462815A (en) * | 2018-12-29 | 2019-03-12 | 前海随身宝（深圳）科技有限公司 | Carry-on method of locating terminal, carry-on terminal and computer readable storage medium |
| CN109862506A (en) * | 2019-02-26 | 2019-06-07 | 出门问问信息科技有限公司 | A kind of alarm method based on Bluetooth signal, device and electronic equipment |
| CN110018508A (en) * | 2018-01-10 | 2019-07-16 | 西安中兴新软件有限责任公司 | A kind of localization method and device |
| CN110138829A (en) * | 2019-04-08 | 2019-08-16 | 张义青 | Localization method, device and the key chain of key chain |
| CN110493707A (en) * | 2019-07-05 | 2019-11-22 | 深圳市微能信息科技有限公司 | Wallet positioning system, method and terminal device |
| CN110730424A (en) * | 2019-10-12 | 2020-01-24 | 深圳酷派技术有限公司 | Positioning method, device and system |
| CN111223270A (en) * | 2020-01-19 | 2020-06-02 | 厦门快商通科技股份有限公司 | Method, device and equipment for preventing child from getting lost |
| CN111277944A (en) * | 2018-11-19 | 2020-06-12 | 深圳市唯传科技有限公司 | Positioning method and positioning equipment |
| CN111522034A (en) * | 2020-04-23 | 2020-08-11 | 海能达通信股份有限公司 | Positioning method, equipment and device based on inertial navigation |
| CN111586560A (en) * | 2020-04-26 | 2020-08-25 | 郑州大学 | Real-time position feedback paralytic patient interactive wearable device |
| CN112089588A (en) * | 2020-05-22 | 2020-12-18 | 未来穿戴技术有限公司 | Neck massager, prompting method and device with storage function |
| CN113115439A (en) * | 2021-04-20 | 2021-07-13 | Oppo广东移动通信有限公司 | Positioning method and related equipment |
| CN114286287A (en) * | 2020-09-28 | 2022-04-05 | 全动能光电股份有限公司 | Positioning device capable of being used for long time |
| TWI785344B (en) * | 2019-06-24 | 2022-12-01 | 瑞典商Lm艾瑞克生(Publ)電話公司 | Methods, node of a wireless communication network and machine-readable mediums related to wireless communication in communication networks |
| US12081263B2 (en) | 2019-06-24 | 2024-09-03 | Telefonaktiebolaget Lm Ericsson (Publ) | Methods, apparatus and machine-readable mediums related to wireless communication in communication networks |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279404A (en) * | 2010-06-13 | 2011-12-14 | 上海伽利略导航有限公司 | Seamless positioning method and device |
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
| WO2013016875A1 (en) * | 2011-08-04 | 2013-02-07 | Google Inc. | Moving direction determination with noisy signals from inertial navigation systems on mobile devices |
-
2013
- 2013-05-13 CN CN201310173644.6A patent/CN103237292B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279404A (en) * | 2010-06-13 | 2011-12-14 | 上海伽利略导航有限公司 | Seamless positioning method and device |
| WO2013016875A1 (en) * | 2011-08-04 | 2013-02-07 | Google Inc. | Moving direction determination with noisy signals from inertial navigation systems on mobile devices |
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
Cited By (56)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104423268A (en) * | 2013-09-05 | 2015-03-18 | 联想(北京)有限公司 | Electronic equipment |
| US9563262B2 (en) | 2013-09-05 | 2017-02-07 | Lenovo (Beijing) Co., Ltd. | Electronic apparatus and information processing method |
| CN103478996A (en) * | 2013-10-16 | 2014-01-01 | 无锡艾科瑞思产品设计与研究有限公司 | Multifunctional guiding and locating bracelet for mountaineering |
| CN103617693A (en) * | 2013-11-01 | 2014-03-05 | 青岛海尔软件有限公司 | Child safety monitoring method |
| CN103873555B (en) * | 2013-12-20 | 2017-05-24 | 北京奇宝科技有限公司 | Method, device and system for building communication between monitoring terminals |
| CN103873555A (en) * | 2013-12-20 | 2014-06-18 | 北京奇虎科技有限公司 | Method, device and system for building communication between monitoring terminals |
| WO2015101356A1 (en) * | 2014-01-06 | 2015-07-09 | Binatone Electronics International Limited | Dual mode baby monitoring priority application |
| US10741041B2 (en) | 2014-01-06 | 2020-08-11 | Binatone Electronics International Limited | Dual mode baby monitoring |
| US11443607B2 (en) | 2014-01-06 | 2022-09-13 | Binatone Electronics International Limited | Dual mode baby monitoring |
| CN103746758A (en) * | 2014-01-09 | 2014-04-23 | 北京智谷睿拓技术服务有限公司 | Monitoring method and equipment |
| US9568582B2 (en) | 2014-05-14 | 2017-02-14 | Pegatron Corporation | Electronic device |
| CN106716170A (en) * | 2014-06-12 | 2017-05-24 | 奈达科技瑞典有限公司 | Method for locating a device and a mobile locator device |
| CN106716170B (en) * | 2014-06-12 | 2019-07-23 | 奈达科技瑞典有限公司 | The method of equipment positioning and a kind of mobile locator device |
| CN104780502A (en) * | 2014-08-25 | 2015-07-15 | 李杨 | Portable equipment and anti-lost and positioning method and system thereof |
| CN104780503A (en) * | 2014-08-25 | 2015-07-15 | 李杨 | Portable equipment and power management method and system thereof |
| CN104469911A (en) * | 2014-12-03 | 2015-03-25 | 中电科卫星导航运营服务有限公司 | Tracker with near field wireless communication module and tracking method |
| CN105792124A (en) * | 2014-12-26 | 2016-07-20 | 腾讯科技（深圳）有限公司 | Positioning method and device |
| CN104522929A (en) * | 2015-01-12 | 2015-04-22 | 宁波市中迪鞋业有限公司 | Voice-hidden automatic alarm shoe with positioning function and alarm method of voice-hidden automatic alarm shoe |
| CN104616458A (en) * | 2015-01-30 | 2015-05-13 | 朱威 | Losing prevention method and system of article |
| CN104901725A (en) * | 2015-05-19 | 2015-09-09 | 西安海导信息技术有限公司 | Signal transmission device, positioner, signal transmission system and signal transmission method |
| CN106292556A (en) * | 2015-05-20 | 2017-01-04 | 无锡卓信信息科技有限公司 | A kind of system and method utilizing wireless double mode technology to realize radioactive source monitoring |
| CN105185057A (en) * | 2015-08-04 | 2015-12-23 | 广东小天才科技有限公司 | Method and device for positioning smart watch |
| CN105430715A (en) * | 2015-10-22 | 2016-03-23 | 小米科技有限责任公司 | Method and apparatus for controlling WIFI scanning |
| CN105430715B (en) * | 2015-10-22 | 2018-12-11 | 小米科技有限责任公司 | Control the method and device of WIFI scanning |
| CN105338756A (en) * | 2015-10-29 | 2016-02-17 | 曾子维 | Positioning patch and positioning method thereof |
| CN105338756B (en) * | 2015-10-29 | 2018-08-28 | 曾子维 | A kind of site and its localization method |
| CN105869364B (en) * | 2016-06-17 | 2018-07-27 | 北京汉唐自远技术股份有限公司 | A kind of wireless monitoring terminal |
| CN105869364A (en) * | 2016-06-17 | 2016-08-17 | 北京汉唐自远技术股份有限公司 | Wireless monitoring terminal |
| CN106507295A (en) * | 2016-09-30 | 2017-03-15 | 维沃移动通信有限公司 | A kind of localization method of mobile terminal and mobile terminal |
| CN106507474A (en) * | 2016-10-28 | 2017-03-15 | 歌尔科技有限公司 | A kind of method and device for positioning mobile terminal |
| CN106595651A (en) * | 2016-11-24 | 2017-04-26 | 歌尔科技有限公司 | Monitoring terminal, anti-lost terminal, anti-lost system and anti-lost method |
| CN106680853A (en) * | 2016-12-31 | 2017-05-17 | 山东大学 | Positioning device based on non network server platform, and operating method of the same |
| CN106680853B (en) * | 2016-12-31 | 2019-10-11 | 山东大学 | A kind of positioning device and its working method based on non-network server platform |
| CN107959925A (en) * | 2017-11-24 | 2018-04-24 | 安徽省雨龙家具有限公司 | A kind of smart home device assisted location method |
| CN108091104A (en) * | 2017-12-28 | 2018-05-29 | 南京工程学院 | A kind of low power-consumption intelligent tracker |
| CN110018508A (en) * | 2018-01-10 | 2019-07-16 | 西安中兴新软件有限责任公司 | A kind of localization method and device |
| WO2019137281A1 (en) * | 2018-01-10 | 2019-07-18 | 西安中兴新软件有限责任公司 | Positioning method and apparatus |
| CN109298389A (en) * | 2018-08-29 | 2019-02-01 | 东南大学 | Indoor pedestrian based on multiparticle group optimization combines position and orientation estimation method |
| CN109298389B (en) * | 2018-08-29 | 2022-09-23 | 东南大学 | Indoor pedestrian combination pose estimation method based on multi-particle swarm optimization |
| CN111277944A (en) * | 2018-11-19 | 2020-06-12 | 深圳市唯传科技有限公司 | Positioning method and positioning equipment |
| CN109462815A (en) * | 2018-12-29 | 2019-03-12 | 前海随身宝（深圳）科技有限公司 | Carry-on method of locating terminal, carry-on terminal and computer readable storage medium |
| CN109862506A (en) * | 2019-02-26 | 2019-06-07 | 出门问问信息科技有限公司 | A kind of alarm method based on Bluetooth signal, device and electronic equipment |
| CN110138829A (en) * | 2019-04-08 | 2019-08-16 | 张义青 | Localization method, device and the key chain of key chain |
| US12081263B2 (en) | 2019-06-24 | 2024-09-03 | Telefonaktiebolaget Lm Ericsson (Publ) | Methods, apparatus and machine-readable mediums related to wireless communication in communication networks |
| US11929780B2 (en) | 2019-06-24 | 2024-03-12 | Telefonaktiebolaget Lm Ericsson (Publ) | Methods, apparatus and machine-readable mediums related to wireless communication in communication networks |
| TWI785344B (en) * | 2019-06-24 | 2022-12-01 | 瑞典商Lm艾瑞克生(Publ)電話公司 | Methods, node of a wireless communication network and machine-readable mediums related to wireless communication in communication networks |
| CN110493707A (en) * | 2019-07-05 | 2019-11-22 | 深圳市微能信息科技有限公司 | Wallet positioning system, method and terminal device |
| CN110730424A (en) * | 2019-10-12 | 2020-01-24 | 深圳酷派技术有限公司 | Positioning method, device and system |
| CN111223270A (en) * | 2020-01-19 | 2020-06-02 | 厦门快商通科技股份有限公司 | Method, device and equipment for preventing child from getting lost |
| CN111522034B (en) * | 2020-04-23 | 2023-08-11 | 海能达通信股份有限公司 | Positioning method, equipment and device based on inertial navigation |
| CN111522034A (en) * | 2020-04-23 | 2020-08-11 | 海能达通信股份有限公司 | Positioning method, equipment and device based on inertial navigation |
| CN111586560A (en) * | 2020-04-26 | 2020-08-25 | 郑州大学 | Real-time position feedback paralytic patient interactive wearable device |
| CN112089588A (en) * | 2020-05-22 | 2020-12-18 | 未来穿戴技术有限公司 | Neck massager, prompting method and device with storage function |
| CN114286287A (en) * | 2020-09-28 | 2022-04-05 | 全动能光电股份有限公司 | Positioning device capable of being used for long time |
| CN114286287B (en) * | 2020-09-28 | 2024-06-04 | 全动能光电股份有限公司 | Positioning device capable of being used for long time |
| CN113115439A (en) * | 2021-04-20 | 2021-07-13 | Oppo广东移动通信有限公司 | Positioning method and related equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103237292B (en) | 2015-09-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103237292B (en) | A kind of localization method based on locator | |
| US10217305B1 (en) | Home monitoring system triggered rules | |
| US9277386B1 (en) | Object location tracking system and method | |
| US20180293861A1 (en) | Monitoring system | |
| US9277524B2 (en) | Cooperative localization of portable electronic devices | |
| KR102209523B1 (en) | Electronic apparatus and positiong method thereof | |
| CN102224757B (en) | Using wireless characteristic to trigger generation of position fix | |
| JP5871952B2 (en) | Camera-compatible headset for navigation | |
| JP2020520581A (en) | Sticker location determining device and related methods | |
| JP6552620B2 (en) | Apparatus and method for enabling broadcast of radio signals when switching operating modes | |
| WO2016054773A1 (en) | Target device positioning method, and mobile terminal | |
| US20140162701A1 (en) | Mobile device location finder | |
| US9220078B1 (en) | Mobile device utilizing time of flight for localization | |
| CN105394897A (en) | Multifunctional intelligent umbrella | |
| KR101318042B1 (en) | A system and a method for preventing a lost child | |
| US20220292941A1 (en) | Asset tracking and protection | |
| KR102009973B1 (en) | System and Method for Location Information Services using Fixed Installation type Beacon | |
| US20160373889A1 (en) | Location accuracy improvement method and system using network elements relations and scaling methods | |
| CN112163061A (en) | User positioning method and device, storage medium and electronic equipment | |
| CN104793181A (en) | Short-range loss-preventive warning and positioning device and short-range loss-preventive warning and positioning method | |
| Paknikar et al. | Wireless IoT based solution for women safety in rural areas | |
| US9651651B1 (en) | Imaging-based frequency receiver device calibration | |
| CN109151735A (en) | Far from tracking rescue alarm system | |
| US9503848B1 (en) | Method and system for locating a wireless tracking device associated with a network of alarm panels | |
| CN203618130U (en) | Searching apparatus and mobile terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |